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ROS API

The cob_3d_registration package provides a configurable node for point cloud registration. Input data is supposed to come from 3-D cameras like Microsoft Kinect.

registration_nodelet

The registration_nodelet nodelet takes in sensor_msgs/PointCloud2 messages and registers successive frames to each other. The register process can be triggered by the key_frame_detector node. Registration is activated by a trigger service.

Action Goal

trigger_mapping/goal (cob_3d_mapping_msgs/TriggerMappingActionGoal)

Action Result

trigger_mapping/result (cob_3d_mapping_msgs/TriggerMappingActionResult)

Action Feedback

trigger_mapping/feedback (cob_3d_mapping_msgs/TriggerMappingActionFeedback)

Subscribed Topics

/point_cloud2 (sensor_msgs/PointCloud2)

Published Topics

/point_cloud2_aligned (sensor_msgs/PointCloud2)

Services

trigger_keyframe (cob_srvs/Trigger)

Parameters

~world_frame_id (string, default: /map) ~algo (string, default: icp) ~voxelsize (double, default: 0.04)

Usage/Examples

roslaunch cob_3d_registration registration.launch

Trigger mapping by calling

rosrun cob_3d_mapping_point_map trigger_mapping.py <start|stop>

2019-12-07 12:30